Zero Moment Point Aplicado ao Controle de Trajetória de Veículo Elétrico in-wheel

Abstract

Electric vehicles, although no longer are a novelty because they have existed for at least 100 years, are an important part of the energy transition currently happening in the world, given their nature of no emission of greenhouse gases. There are different architectures for electric vehicles, and the use of in-wheel electric motors is among one of the most technologically promising possibilities, as it allows each wheel to have an electric motor, enabling individual control of torques and freeing up more space in the vehicle. Vehicle safety is another key issue today. Collision avoidance of an obstacle ahead is a relevant safety feature to be controlled. Individualized torque control at each wheel can be applied using Zero Moment Point or ZMP. The ZMP represents the point that maintains the dynamic balance of a chain of bodies and can be used as a stability parameter to prevent the vehicle from rolling over in collision avoidance maneuvers. With the implementation of the proposed control system, it was possible, on simulations, to maintain the stability of the vehicle in collision avoidance maneuvers on flat and inclined terrain.